Re: [Emc-users] To Sam Sokolik re opencv on linux

[Gene Heskett]

On Thursday 28 January 2021 21:12:31 Bari wrote:

> On 1/28/21 4:55 PM, Gene Heskett wrote:
> > That's not the video I saw, and can't find again. I think it was one
> > of yours where you were auto finding a red target dot by calculating
> > the offset and a button click then drove the machine at a high rate
> > of speed to put the red dot precisely in the cameras target circle.
> > Wasn't that one of yours video's?
>
> This one maybe?
>
> https://www.youtube.com/watch?v=Pe2RACwiEbg
>
Yes, that's it exactly Bari. Thanks.

But I did not realize until checking the youtube submission date, that it 
was so old. 2014. Now, I'd like to see if I can make it work with 
opencv. camview was glaringly slow back then with the video running 3 or 
4 seconds behind the machine, and crashing so often and hard that it 
took a reboot to run it again, and had more bugs than a 10 day old road 
kill carcass in august, making it very impractical to try to use so I 
gave up.

Now I've found another promising camera that I'd like to try. But this 
time I'll start with our 2.8 install iso so I'm not also battling with a 
7 yo OS called wheezy.

Buster is running TLM, and ran one of my mills right well a few days ago, 
for a few hours, but after the install, the video went away on that 
D525MW in an ARK shoebox.

So now I've bought 4 used optiplexes with i5 cpu's. So the hd with that 
install goes in the optiplex when it gets here.

Which is what I did when this box caught fire last year, at one of the 
mobo's usb 2 headers, so I replaced that Asus mobo with its phenom with 
another Asus carrying an i5, still booting from the same hd with stretch 
on it.  The phenom had horrible latency on a stock kernel, but this new 
6 core i5 is good enough to run machinery without a preempt-rt kernel.  
Time marches on as its doing it on 20% of the phenoms power draw.

Thanks Bari.

Cheers, Gene Heskett
-- 
"There are four boxes to be used in defense of liberty:
 soap, ballot, jury, and ammo. Please use in that order."
-Ed Howdershelt (Author)
If we desire respect for the law, we must first make the law respectable.
 - Louis D. Brandeis
Genes Web page 


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Re: [Emc-users] To Sam Sokolik re opencv on linux

[Bari]

On 1/28/21 4:55 PM, Gene Heskett wrote:


That's not the video I saw, and can't find again. I think it was one of
yours where you were auto finding a red target dot by calculating the
offset and a button click then drove the machine at a high rate of speed
to put the red dot precisely in the cameras target circle. Wasn't that
one of yours video's?



This one maybe?

https://www.youtube.com/watch?v=Pe2RACwiEbg



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Re: [Emc-users] Another Mesa vhdl question (uart/pktuart)

[Ralph Stirling]

So I'm still looking at the hostmot2 uart/pktuart modules
for simple interfacing of microcontrollers for things like
A/D conversion, and have the vhdl end figured out.

The hostmot2 end is going to take some more work,
apparently.  The pktuart module is not a drop-in replacement
for the uart.  Is there an example comp file illustrating
its use, like mesa_uart.comp?  I can keep mucking around
to figure out the extra parameters, but a working example
would be a time saver.

>From hostmot2.h:

int hm2_uart_setup(char *name, int bitrate, rtapi_s32 tx_mode, rtapi_s32 
rx_mode);
int hm2_uart_send(char *name, unsigned char data[], int count);
int hm2_uart_read(char *name, unsigned char data[]);


int hm2_pktuart_setup(char *name, int bitrate, rtapi_s32 tx_mode, rtapi_s32 
rx_mode, int txclear, int rxclear);
int hm2_pktuart_send(char *name,  unsigned char data[], rtapi_u8 *num_frames, 
rtapi_u16 frame_sizes[]);
int hm2_pktuart_read(char *name, unsigned char data[],  rtapi_u8 *num_frames, 
rtapi_u16 *max_frame_length, rtapi_u16 frame_sizes[]);

Thanks again,
-- Ralph

From: Peter C. Wallace [p...@mesanet.com]
Sent: Monday, January 18, 2021 9:25 AM
To: Enhanced Machine Controller (EMC)
Subject: Re: [Emc-users] Another Mesa vhdl question

...

The UART requires the alternate instance stride (stride 1) set to 0x10
This is done in the top level file (its a awful kludge and means some
typs of modules cannot be combined)

I would suggest using the PKTUART instead as the PKTUART
uses standard instance strides (0= 0x04,1=0x40)

Peter Wallace
Mesa Electronics

(\__/)
(='.'=) This is Bunny. Copy and paste bunny into your
(")_(") signature to help him gain world domination.



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Re: [Emc-users] To Sam Sokolik re opencv on linux

[Gene Heskett]

On Thursday 28 January 2021 16:37:52 Sam Sokolik wrote:

> Gene - I will have to look for the python code and script..   Have you
> looked at Kent's stuff?  I think he has a git repository.

> https://youtu.be/w3novypPqos

That's not the video I saw, and can't find again. I think it was one of 
yours where you were auto finding a red target dot by calculating the 
offset and a button click then drove the machine at a high rate of speed 
to put the red dot precisely in the cameras target circle. Wasn't that 
one of yours video's?

> On Thu, Jan 28, 2021, 2:51 PM Gene Heskett  
wrote:
> > Greetings Sam;
> >
> > Any chance of sharing a link to your additions to the ini file for
> > bringing opencv into play? I was very well impressed with your
> > automatic edge finding demo on you-tube. And I have finally found a
> > camera that works. Spindle mount at present but I intend to put it
> > on a swing mount eventually.
> >
> > Sells for about $99 on ebay but is razor sharp. And Just Works with
> > cheese on this stretch machine.
> >
> > Thank you Sam.
> >
> > Cheers, Gene Heskett
> > --
> > "There are four boxes to be used in defense of liberty:
> >  soap, ballot, jury, and ammo. Please use in that order."
> > -Ed Howdershelt (Author)
> > If we desire respect for the law, we must first make the law
> > respectable. - Louis D. Brandeis
> > Genes Web page 
> >
> >
> > ___
> > Emc-users mailing list
> > Emc-users@lists.sourceforge.net
> > https://lists.sourceforge.net/lists/listinfo/emc-users
>
> ___
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Cheers, Gene Heskett
-- 
"There are four boxes to be used in defense of liberty:
 soap, ballot, jury, and ammo. Please use in that order."
-Ed Howdershelt (Author)
If we desire respect for the law, we must first make the law respectable.
 - Louis D. Brandeis
Genes Web page 


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Re: [Emc-users] Fanuc Servos?

[Gene Heskett]

On Thursday 28 January 2021 16:05:05 John Dammeyer wrote:

> Hi Gene,
> I understand that.  But I also know I bought the expensive and
> theoretically high quality US Digital encoders 10 years ago for my DC
> servos.  Ultimately they were way to sensitive to noise and in fact US
> Digital discontinued that line for that reason.  So I have two useless
> encoders.  I replaced them with CUI and they work better.
>
> My point is what you see on EBAY and AliExpress are not all created
> equal.  The US Digital encoders appeared to work but eventually the
> UHU Servo drive reported a difference in counts and a move to home was
> off by a number of encoder edges.  Enough to count to a few thousands
> of an inch.
>
> The UHU CPU replacement from Sweden (Henrik Olsson) was a dsPIC and
> had better encoder support.  Even then it still had problems with the
> US Digital.  Not with the CUI.
>
> What I'm saying is that when you order an AC servo c/w drive you may
> find that because they had the lowest price it was low because they
> used the cheapest encoder.  Or maybe the cable they supplied was lower
> quality.  Whether the product is from China, Japan, USA or Germany for
> example, lower price doesn't equate to the same quality as higher
> price.
>
> The best example so far for me was the stepperonline.com 6A driver
> that had a 3.6kHz whine on two different stepper motors.  Loud enough
> to be a pain in the ear and cost with PRIME shipping from Amazon was
> $80 Cdn.  A unit from Bergerda with the same specifications and close
> to the same look ended up with FedEx and Canadian taxes to be $82
> each. (I bought 2 for the two motors I had here). No whine.  Ribs on
> the heatsink were twice as high.  A few extra features and a metal
> cover rather than plastic which might even help with electrical noise
> suppression.  And a different size connector for the control signals
> verses motor/power so no chance of accidentally plugging in the wrong
> one.
>
> So though a lot of units look the same, unless you are buying a STMBL
> with full source code and schematics and have control over everything
> including the encoder on the motor the lowest cost unit isn't always
> the best.
>
> I'd still rather buy a MESA board than some cheap clone from China for
> example.  Or if I needed something Jon Elson sold I'd buy from him
> rather than lowest cost from China.

I hear that. Loud and clear although I can sometimes argue a bit. For 
starters both are right here and answers to any problems with their 
stuff are generally same day answers.  You, I, nor Mastercard, simply 
cannot put a price on that.

> John Dammeyer.
>
> > -Original Message-
> > From: Gene Heskett [mailto:ghesk...@shentel.net]
> > Sent: January-28-21 12:31 PM
> > To: emc-users@lists.sourceforge.net
> > Subject: Re: [Emc-users] Fanuc Servos?
> >
> > On Thursday 28 January 2021 12:09:00 John Dammeyer wrote:
> > > Just be careful and ask the supplier what type of encoder is
> > > mounted on the servo.  There are encoders and there are encoders.
> > > My http://en.bergerda.com/ servos use a Japanese brand which they
> > > claim are better than some of the Chinese ones out there but are
> > > also considerably more expensive.   Differential output from the
> > > encoder is a must have to reduce the effects of electrical noise.
> > >
> > > John
> >
> > True, but Omron makes differential encoders with up to 1024 ppr, for
> > a $21 price on ebay.
> >
> > I have one with 1000 ppr on the rear of my GO704's spindle motor,
> > turning faster by 3 or 4x than its rated for, currently driven by a
> > piece of heat shrink tubing as the elastomer coupling has gone away
> > two years ago.
> >
> > The diff signals are made single ended to drive a 5i25's inputs by a
> > pair of rs-485 to ttl boards at nominally $2 each on ebay. I had to
> > program them for 1 way traffic though. So my spindle scale is a bit
> > over 7,000 in high gear, and a bit over 14,000 in low, and I can use
> > PID_S.Pgains of 20 or more.
> >
> > To say my speed control is stiff is the understatement of the month,
> > I only know the spindle load is high by the chirping iron in the
> > motor at around 1.8x its nameplate 9.7 amps courtesy one of Jon's
> > pwm-servo's set for around 17 amps. Up to that point, no change in
> > the machines noise as a tap digs in.
> >
> > I get my spindles index from a screw silly glued to the side of the
> > drawbar retaining cap by way of an ATS-667 watching it go by.
> >
> > > > -Original Message-
> > > > From: andrew beck [mailto:andrewbeck0...@gmail.com]
> > > > Sent: January-28-21 1:14 AM
> > > > To: Enhanced Machine Controller (EMC)
> > > > Subject: Re: [Emc-users] Fanuc Servos?
> > > >
> > > > You can buy Chinese yaskawa copy ac servo drives 2.4kw for like
> > > > 260usd.  So it's just not worth it now.  I just sold my fanic
> > > > drives in the end.  Its so nice to just bolt on some matched
> > > > servo drives that just work out of the box.
> > > >
> > 

Re: [Emc-users] To Sam Sokolik re opencv on linux

[Sam Sokolik]

Gene - I will have to look for the python code and script..   Have you
looked at Kent's stuff?  I think he has a git repository.
https://youtu.be/w3novypPqos


On Thu, Jan 28, 2021, 2:51 PM Gene Heskett  wrote:

> Greetings Sam;
>
> Any chance of sharing a link to your additions to the ini file for
> bringing opencv into play? I was very well impressed with your automatic
> edge finding demo on you-tube. And I have finally found a camera that
> works. Spindle mount at present but I intend to put it on a swing mount
> eventually.
>
> Sells for about $99 on ebay but is razor sharp. And Just Works with
> cheese on this stretch machine.
>
> Thank you Sam.
>
> Cheers, Gene Heskett
> --
> "There are four boxes to be used in defense of liberty:
>  soap, ballot, jury, and ammo. Please use in that order."
> -Ed Howdershelt (Author)
> If we desire respect for the law, we must first make the law respectable.
>  - Louis D. Brandeis
> Genes Web page 
>
>
> ___
> Emc-users mailing list
> Emc-users@lists.sourceforge.net
> https://lists.sourceforge.net/lists/listinfo/emc-users
>

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Re: [Emc-users] Fanuc Servos?

[John Dammeyer]

Hi Gene,
I understand that.  But I also know I bought the expensive and theoretically 
high quality US Digital encoders 10 years ago for my DC servos.  Ultimately 
they were way to sensitive to noise and in fact US Digital discontinued that 
line for that reason.  So I have two useless encoders.  I replaced them with 
CUI and they work better.

My point is what you see on EBAY and AliExpress are not all created equal.  The 
US Digital encoders appeared to work but eventually the UHU Servo drive 
reported a difference in counts and a move to home was off by a number of 
encoder edges.  Enough to count to a few thousands of an inch.

The UHU CPU replacement from Sweden (Henrik Olsson) was a dsPIC and had better 
encoder support.  Even then it still had problems with the US Digital.  Not 
with the CUI.

What I'm saying is that when you order an AC servo c/w drive you may find that 
because they had the lowest price it was low because they used the cheapest 
encoder.  Or maybe the cable they supplied was lower quality.  Whether the 
product is from China, Japan, USA or Germany for example, lower price doesn't 
equate to the same quality as higher price.  

The best example so far for me was the stepperonline.com 6A driver that had a 
3.6kHz whine on two different stepper motors.  Loud enough to be a pain in the 
ear and cost with PRIME shipping from Amazon was $80 Cdn.  A unit from Bergerda 
with the same specifications and close to the same look ended up with FedEx and 
Canadian taxes to be $82 each. (I bought 2 for the two motors I had here).  
No whine.  Ribs on the heatsink were twice as high.  A few extra features and a 
metal cover rather than plastic which might even help with electrical noise 
suppression.  And a different size connector for the control signals verses 
motor/power so no chance of accidentally plugging in the wrong one.

So though a lot of units look the same, unless you are buying a STMBL with full 
source code and schematics and have control over everything including the 
encoder on the motor the lowest cost unit isn't always the best.

I'd still rather buy a MESA board than some cheap clone from China for example. 
 Or if I needed something Jon Elson sold I'd buy from him rather than lowest 
cost from China.

John Dammeyer.

> -Original Message-
> From: Gene Heskett [mailto:ghesk...@shentel.net]
> Sent: January-28-21 12:31 PM
> To: emc-users@lists.sourceforge.net
> Subject: Re: [Emc-users] Fanuc Servos?
> 
> On Thursday 28 January 2021 12:09:00 John Dammeyer wrote:
> 
> > Just be careful and ask the supplier what type of encoder is mounted
> > on the servo.  There are encoders and there are encoders. My
> > http://en.bergerda.com/ servos use a Japanese brand which they claim
> > are better than some of the Chinese ones out there but are also
> > considerably more expensive.   Differential output from the encoder is
> > a must have to reduce the effects of electrical noise.
> >
> > John
> 
> True, but Omron makes differential encoders with up to 1024 ppr, for a
> $21 price on ebay.
> 
> I have one with 1000 ppr on the rear of my GO704's spindle motor, turning
> faster by 3 or 4x than its rated for, currently driven by a piece of
> heat shrink tubing as the elastomer coupling has gone away two years
> ago.
> 
> The diff signals are made single ended to drive a 5i25's inputs by a pair
> of rs-485 to ttl boards at nominally $2 each on ebay. I had to program
> them for 1 way traffic though. So my spindle scale is a bit over 7,000
> in high gear, and a bit over 14,000 in low, and I can use PID_S.Pgains
> of 20 or more.
> 
> To say my speed control is stiff is the understatement of the month, I
> only know the spindle load is high by the chirping iron in the motor at
> around 1.8x its nameplate 9.7 amps courtesy one of Jon's pwm-servo's set
> for around 17 amps. Up to that point, no change in the machines noise as
> a tap digs in.
> 
> I get my spindles index from a screw silly glued to the side of the
> drawbar retaining cap by way of an ATS-667 watching it go by.
> 
> >
> > > -Original Message-
> > > From: andrew beck [mailto:andrewbeck0...@gmail.com]
> > > Sent: January-28-21 1:14 AM
> > > To: Enhanced Machine Controller (EMC)
> > > Subject: Re: [Emc-users] Fanuc Servos?
> > >
> > > You can buy Chinese yaskawa copy ac servo drives 2.4kw for like
> > > 260usd.  So it's just not worth it now.  I just sold my fanic drives
> > > in the end.  Its so nice to just bolt on some matched servo drives
> > > that just work out of the box.
> > >
> > > On Thu, 28 Jan 2021, 14:20 Jon Elson,  wrote:
> > > > On 01/27/2021 11:35 AM, Todd Zuercher wrote:
> > > > > How useable are Fanuc's servos and amps with Linuxcnc?  My
> > > > > understanding
> > > >
> > > > is that it is very involved to try to force them to work with
> > > > anything other than a Fanuc control
> > > > I make converters for the two most common types of Fanuc
> > > > encoders used on brushless motors.
> > > > I also 

[Emc-users] To Sam Sokolik re opencv on linux

[Gene Heskett]

Greetings Sam;

Any chance of sharing a link to your additions to the ini file for 
bringing opencv into play? I was very well impressed with your automatic 
edge finding demo on you-tube. And I have finally found a camera that 
works. Spindle mount at present but I intend to put it on a swing mount 
eventually.

Sells for about $99 on ebay but is razor sharp. And Just Works with 
cheese on this stretch machine.

Thank you Sam.

Cheers, Gene Heskett
-- 
"There are four boxes to be used in defense of liberty:
 soap, ballot, jury, and ammo. Please use in that order."
-Ed Howdershelt (Author)
If we desire respect for the law, we must first make the law respectable.
 - Louis D. Brandeis
Genes Web page 


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Re: [Emc-users] Fanuc Servos?

[Gene Heskett]

On Thursday 28 January 2021 12:09:00 John Dammeyer wrote:

> Just be careful and ask the supplier what type of encoder is mounted
> on the servo.  There are encoders and there are encoders. My
> http://en.bergerda.com/ servos use a Japanese brand which they claim
> are better than some of the Chinese ones out there but are also
> considerably more expensive.   Differential output from the encoder is
> a must have to reduce the effects of electrical noise.
>
> John

True, but Omron makes differential encoders with up to 1024 ppr, for a 
$21 price on ebay. 

I have one with 1000 ppr on the rear of my GO704's spindle motor, turning 
faster by 3 or 4x than its rated for, currently driven by a piece of 
heat shrink tubing as the elastomer coupling has gone away two years 
ago.

The diff signals are made single ended to drive a 5i25's inputs by a pair 
of rs-485 to ttl boards at nominally $2 each on ebay. I had to program 
them for 1 way traffic though. So my spindle scale is a bit over 7,000 
in high gear, and a bit over 14,000 in low, and I can use PID_S.Pgains 
of 20 or more. 

To say my speed control is stiff is the understatement of the month, I 
only know the spindle load is high by the chirping iron in the motor at 
around 1.8x its nameplate 9.7 amps courtesy one of Jon's pwm-servo's set 
for around 17 amps. Up to that point, no change in the machines noise as 
a tap digs in.

I get my spindles index from a screw silly glued to the side of the 
drawbar retaining cap by way of an ATS-667 watching it go by.

>
> > -Original Message-
> > From: andrew beck [mailto:andrewbeck0...@gmail.com]
> > Sent: January-28-21 1:14 AM
> > To: Enhanced Machine Controller (EMC)
> > Subject: Re: [Emc-users] Fanuc Servos?
> >
> > You can buy Chinese yaskawa copy ac servo drives 2.4kw for like
> > 260usd.  So it's just not worth it now.  I just sold my fanic drives
> > in the end.  Its so nice to just bolt on some matched servo drives
> > that just work out of the box.
> >
> > On Thu, 28 Jan 2021, 14:20 Jon Elson,  wrote:
> > > On 01/27/2021 11:35 AM, Todd Zuercher wrote:
> > > > How useable are Fanuc's servos and amps with Linuxcnc?  My
> > > > understanding
> > >
> > > is that it is very involved to try to force them to work with
> > > anything other than a Fanuc control
> > > I make converters for the two most common types of Fanuc
> > > encoders used on brushless motors.
> > > I also make a digital servo amp for them that can be used
> > > with my PWM controller.
> > > The older "red cap" motors had encoders with standard
> > > quadrature plus index output, but the commutation signal was
> > > proprietary.  I have a board that converts the commutation
> > > to industry-compatible "Hall" signals.
> > >
> > > The newer type is serial, but my converter produces
> > > industry-compatible quadrature plus index, plus the "Hall"
> > > signals. Note there are absolute and incremental versions of
> > > these encoders.
> > > The problem with the incremental versions, like (alpha)I64,
> > > is that they are lost when power is applied, so they need
> > > you to crank the motor past the index location by hand after
> > > every power on, before commutation is available.  So, these
> > > encoders need power-off brakes and battery backup if the
> > > control is ever turned off.
> > > The absolute version have additional low-res data tracks
> > > that allow the encoder to know the angle immediately at
> > > power-on, so no battery is needed to have commutation
> > > immediately on power on.
> > >
> > > Now, the Fanuc servo amps are more difficult, as about 1984
> > > they stopped releasing any documentation on their
> > > electronics.  So, it is essentially impossible to find any
> > > schematics or connection info for their amps.  Most of the
> > > brushless amps take SIX PWM signals per axis, so
> > > the controller sends separate PWM to EACH transistor.  This
> > > moves all the smarts to the controller, but it complicates
> > > things a bit.
> > >
> > > Jon
> > >
> > >
> > > ___
> > > Emc-users mailing list
> > > Emc-users@lists.sourceforge.net
> > > https://lists.sourceforge.net/lists/listinfo/emc-users
> >
> > ___
> > Emc-users mailing list
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>
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Cheers, Gene Heskett
-- 
"There are four boxes to be used in defense of liberty:
 soap, ballot, jury, and ammo. Please use in that order."
-Ed Howdershelt (Author)
If we desire respect for the law, we must first make the law respectable.
 - Louis D. Brandeis
Genes Web page 


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Re: [Emc-users] Fanuc Servos?

[John Dammeyer]

Just be careful and ask the supplier what type of encoder is mounted on the 
servo.  There are encoders and there are encoders. My http://en.bergerda.com/ 
servos use a Japanese brand which they claim are better than some of the 
Chinese ones out there but are also considerably more expensive.   Differential 
output from the encoder is a must have to reduce the effects of electrical 
noise.

John

> -Original Message-
> From: andrew beck [mailto:andrewbeck0...@gmail.com]
> Sent: January-28-21 1:14 AM
> To: Enhanced Machine Controller (EMC)
> Subject: Re: [Emc-users] Fanuc Servos?
> 
> You can buy Chinese yaskawa copy ac servo drives 2.4kw for like 260usd.  So
> it's just not worth it now.  I just sold my fanic drives in the end.  Its
> so nice to just bolt on some matched servo drives that just work out of the
> box.
> 
> On Thu, 28 Jan 2021, 14:20 Jon Elson,  wrote:
> 
> > On 01/27/2021 11:35 AM, Todd Zuercher wrote:
> > > How useable are Fanuc's servos and amps with Linuxcnc?  My understanding
> > is that it is very involved to try to force them to work with anything
> > other than a Fanuc control
> > I make converters for the two most common types of Fanuc
> > encoders used on brushless motors.
> > I also make a digital servo amp for them that can be used
> > with my PWM controller.
> > The older "red cap" motors had encoders with standard
> > quadrature plus index output, but the commutation signal was
> > proprietary.  I have a board that converts the commutation
> > to industry-compatible "Hall" signals.
> >
> > The newer type is serial, but my converter produces
> > industry-compatible quadrature plus index, plus the "Hall"
> > signals. Note there are absolute and incremental versions of
> > these encoders.
> > The problem with the incremental versions, like (alpha)I64,
> > is that they are lost when power is applied, so they need
> > you to crank the motor past the index location by hand after
> > every power on, before commutation is available.  So, these
> > encoders need power-off brakes and battery backup if the
> > control is ever turned off.
> > The absolute version have additional low-res data tracks
> > that allow the encoder to know the angle immediately at
> > power-on, so no battery is needed to have commutation
> > immediately on power on.
> >
> > Now, the Fanuc servo amps are more difficult, as about 1984
> > they stopped releasing any documentation on their
> > electronics.  So, it is essentially impossible to find any
> > schematics or connection info for their amps.  Most of the
> > brushless amps take SIX PWM signals per axis, so
> > the controller sends separate PWM to EACH transistor.  This
> > moves all the smarts to the controller, but it complicates
> > things a bit.
> >
> > Jon
> >
> >
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> > https://lists.sourceforge.net/lists/listinfo/emc-users
> >
> 
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Re: [Emc-users] Fanuc Servos?

[Gene Heskett]

On Thursday 28 January 2021 04:13:39 andrew beck wrote:

> Chinese yaskawa copy ac servo drives 2.4kw

URL?

Thanks Andrew

Cheers, Gene Heskett
-- 
"There are four boxes to be used in defense of liberty:
 soap, ballot, jury, and ammo. Please use in that order."
-Ed Howdershelt (Author)
If we desire respect for the law, we must first make the law respectable.
 - Louis D. Brandeis
Genes Web page 


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Re: [Emc-users] Fanuc Servos?

[andrew beck]

You can buy Chinese yaskawa copy ac servo drives 2.4kw for like 260usd.  So
it's just not worth it now.  I just sold my fanic drives in the end.  Its
so nice to just bolt on some matched servo drives that just work out of the
box.

On Thu, 28 Jan 2021, 14:20 Jon Elson,  wrote:

> On 01/27/2021 11:35 AM, Todd Zuercher wrote:
> > How useable are Fanuc's servos and amps with Linuxcnc?  My understanding
> is that it is very involved to try to force them to work with anything
> other than a Fanuc control
> I make converters for the two most common types of Fanuc
> encoders used on brushless motors.
> I also make a digital servo amp for them that can be used
> with my PWM controller.
> The older "red cap" motors had encoders with standard
> quadrature plus index output, but the commutation signal was
> proprietary.  I have a board that converts the commutation
> to industry-compatible "Hall" signals.
>
> The newer type is serial, but my converter produces
> industry-compatible quadrature plus index, plus the "Hall"
> signals. Note there are absolute and incremental versions of
> these encoders.
> The problem with the incremental versions, like (alpha)I64,
> is that they are lost when power is applied, so they need
> you to crank the motor past the index location by hand after
> every power on, before commutation is available.  So, these
> encoders need power-off brakes and battery backup if the
> control is ever turned off.
> The absolute version have additional low-res data tracks
> that allow the encoder to know the angle immediately at
> power-on, so no battery is needed to have commutation
> immediately on power on.
>
> Now, the Fanuc servo amps are more difficult, as about 1984
> they stopped releasing any documentation on their
> electronics.  So, it is essentially impossible to find any
> schematics or connection info for their amps.  Most of the
> brushless amps take SIX PWM signals per axis, so
> the controller sends separate PWM to EACH transistor.  This
> moves all the smarts to the controller, but it complicates
> things a bit.
>
> Jon
>
>
> ___
> Emc-users mailing list
> Emc-users@lists.sourceforge.net
> https://lists.sourceforge.net/lists/listinfo/emc-users
>

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Re: [Emc-users] Maybe a minimally printed harmonic drive?

[andrew beck]

Guys just to chime in here.

Sam went don't you design a cycloidal drive instead.  They are easy to make
on a normal 3 axis Cnc mill with a end mill and much more rigid than a
harmonic drive.  As they are not so fragile.  I'm planning on making some
on my VMC soon.I don't understand why use a harmonic drive.  (I
actually have a big harmonic drive here from a robot. )

On Thu, 28 Jan 2021, 18:53 Bari,  wrote:

> On 1/27/21 10:55 AM, Sam Sokolik wrote:
>
> > Nice being able to make things while I sleep..
> >
> > 2 outside side rings - one 202 teeth - one 200 teeth.
> > Inside flex ring - 200 teeth.  Feels good - for what it is..
> >
> > http://electronicsam.com/images/greenmachine/IMG_20210127_104237.jpg
> > http://electronicsam.com/images/greenmachine/IMG_20210127_104628.jpg
> > http://electronicsam.com/images/greenmachine/IMG_20210127_104354.jpg
> >
> Timing belts will take the flex
>
> https://www.youtube.com/watch?v=Y8ZELQdgBbU
>
> https://www.youtube.com/watch?v=2YC-0C8oPUo
>
>
> Cycloid prototype under microscope
>
> https://www.youtube.com/watch?v=um5GMOBgz6s
>
>
> Hybrid planetary/harmonic drive - check out how they made it flex
>
> https://www.youtube.com/watch?v=sdRGrTHq4hA
>
>
>
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